Publications

33 / 3,283 publications found.


  •  Firoozi, R., Quirynen, R., Di Cairano, S., "Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic", American Control Conference (ACC), June 2022.
    BibTeX TR2022-059 PDF
    • @inproceedings{Firoozi2022jun,
    • author = {Firoozi, Roya and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic},
    • booktitle = {American Control Conference (ACC)},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-059}
    • }
  •  Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles", American Control Conference (ACC), June 2022.
    BibTeX TR2022-065 PDF
    • @inproceedings{Vaskov2022jun,
    • author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
    • title = {Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-065}
    • }
  •  Vinod, A.P., Safaoui, S., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning via filtered reinforcement learning", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
    BibTeX TR2022-053 PDF Video
    • @inproceedings{Vinod2022may,
    • author = {Vinod, Abraham P. and Safaoui, Sleiman and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and Di Cairano, Stefano},
    • title = {Safe multi-agent motion planning via filtered reinforcement learning},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • url = {https://www.merl.com/publications/TR2022-053}
    • }
  •  Cauligi, A., Chakrabarty, A., Di Cairano, S., Quirynen, R., "PRISM: Recurrent Neural Networks and Presolve Methods for Fast Mixed-integer Optimal Control", Learning for Dynamics and Control Conference (L4DC), April 2022, pp. 34-46.
    BibTeX TR2022-039 PDF
    • @inproceedings{Cauligi2022apr,
    • author = {Cauligi, Abhishek and Chakrabarty, Ankush and Di Cairano, Stefano and Quirynen, Rien},
    • title = {PRISM: Recurrent Neural Networks and Presolve Methods for Fast Mixed-integer Optimal Control},
    • booktitle = {Learning for Dynamics and Control Conference (L4DC)},
    • year = 2022,
    • pages = {34--46},
    • month = apr,
    • publisher = {Proceedings of Machine Learning Research (PMLR)},
    • url = {https://www.merl.com/publications/TR2022-039}
    • }
  •  Quirynen, R., Di Cairano, S., "Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC45484.2021.9683714, December 2021, pp. 993-999.
    BibTeX TR2021-147 PDF
    • @inproceedings{Quirynen2021dec,
    • author = {Quirynen, Rien and Di Cairano, Stefano},
    • title = {Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2021,
    • pages = {993--999},
    • month = dec,
    • doi = {10.1109/CDC45484.2021.9683714},
    • url = {https://www.merl.com/publications/TR2021-147}
    • }
  •  Srinivasan, M., Chakrabarty, A., Quirynen, R., yoshikawa, N., Mariyama, T., Di Cairano, S., "Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/​j.ifacol.2021.11.237, October 2021, pp. 598-604.
    BibTeX TR2021-134 PDF
    • @inproceedings{Srinivasan2021oct,
    • author = {Srinivasan, Mohit and Chakrabarty, Ankush and Quirynen, Rien and yoshikawa, nobuyuki and Mariyama, Toshisada and Di Cairano, Stefano},
    • title = {Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs},
    • booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
    • year = 2021,
    • pages = {598--604},
    • month = oct,
    • doi = {10.1016/j.ifacol.2021.11.237},
    • url = {https://www.merl.com/publications/TR2021-134}
    • }
  •  Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/​SMC52423.2021.9659186, October 2021, pp. 3238-3244.
    BibTeX TR2021-126 PDF Video
    • @inproceedings{Chakrabarty2021oct,
    • author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and Di Cairano, Stefano},
    • title = {Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC},
    • booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
    • year = 2021,
    • pages = {3238--3244},
    • month = oct,
    • doi = {10.1109/SMC52423.2021.9659186},
    • url = {https://www.merl.com/publications/TR2021-126}
    • }
  •  Ravikumar, S., Quirynen, R., Bhagat, A., Zeino, E., Di Cairano, S., "Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA48906.2021.9658675, August 2021, pp. 814-819.
    BibTeX TR2021-089 PDF
    • @inproceedings{Ravikumar2021aug,
    • author = {Ravikumar, Shreejith and Quirynen, Rien and Bhagat, Akshay and Zeino, Eyad and Di Cairano, Stefano},
    • title = {Mixed-integer Programming for Centralized Coordination of Connected and Automated Vehicles in Dynamic Environment},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2021,
    • pages = {814--819},
    • month = aug,
    • doi = {10.1109/CCTA48906.2021.9658675},
    • url = {https://www.merl.com/publications/TR2021-089}
    • }
  •  Quirynen, R., Berntorp, K., "Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC", IFAC Conference on Nonlinear Model Predictive Control, DOI: 10.1016/​j.ifacol.2021.08.527, July 2021, pp. 76-82.
    BibTeX TR2021-084 PDF
    • @inproceedings{Quirynen2021jul,
    • author = {Quirynen, Rien and Berntorp, Karl},
    • title = {Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC},
    • booktitle = {IFAC Conference on Nonlinear Model Predictive Control},
    • year = 2021,
    • pages = {76--82},
    • month = jul,
    • doi = {10.1016/j.ifacol.2021.08.527},
    • url = {https://www.merl.com/publications/TR2021-084}
    • }
  •  Berntorp, K., Quirynen, R., Vaskov, S., "Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9482635, May 2021, pp. 186-191.
    BibTeX TR2021-060 PDF
    • @inproceedings{Berntorp2021may2,
    • author = {Berntorp, Karl and Quirynen, Rien and Vaskov, Sean},
    • title = {Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • pages = {186--191},
    • month = may,
    • doi = {10.23919/ACC50511.2021.9482635},
    • url = {https://www.merl.com/publications/TR2021-060}
    • }
  •  Vaskov, S., Quirynen, R., Berntorp, K., "Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9482699, May 2021, pp. 154-159.
    BibTeX TR2021-056 PDF
    • @inproceedings{Vaskov2021may,
    • author = {Vaskov, Sean and Quirynen, Rien and Berntorp, Karl},
    • title = {Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • pages = {154--159},
    • month = may,
    • doi = {10.23919/ACC50511.2021.9482699},
    • url = {https://www.merl.com/publications/TR2021-056}
    • }
  •  Liang, J., Di Cairano, S., Quirynen, R., "Early Termination of Convex QP Solvers in Mixed-Integer Programming for Real-Time Decision Making", L-CSS with ACC 2021 Option, DOI: 10.1109/​LCSYS.2020.3038677, Vol. 5, No. 4, pp. 1417-1422, November 2020.
    BibTeX TR2020-152 PDF Video
    • @article{Liang2020nov,
    • author = {Liang, Jiaming and Di Cairano, Stefano and Quirynen, Rien},
    • title = {Early Termination of Convex QP Solvers in Mixed-Integer Programming for Real-Time Decision Making},
    • journal = {L-CSS with ACC 2021 Option},
    • year = 2020,
    • volume = 5,
    • number = 4,
    • pages = {1417--1422},
    • month = nov,
    • doi = {10.1109/LCSYS.2020.3038677},
    • url = {https://www.merl.com/publications/TR2020-152}
    • }
  •  Quirynen, R., Di Cairano, S., "PRESAS: Block-Structured Preconditioning of Iterative Solvers within a Primal Active-Set Method for fast MPC", Optimal Control Applications & Methods, DOI: 10.1002/​oca.2652, Vol. 41, No. 6, pp. 2282-2307, September 2020.
    BibTeX TR2020-134 PDF
    • @article{Quirynen2020sep,
    • author = {Quirynen, Rien and Di Cairano, Stefano},
    • title = {PRESAS: Block-Structured Preconditioning of Iterative Solvers within a Primal Active-Set Method for fast MPC},
    • journal = {Optimal Control Applications & Methods},
    • year = 2020,
    • volume = 41,
    • number = 6,
    • pages = {2282--2307},
    • month = sep,
    • doi = {10.1002/oca.2652},
    • url = {https://www.merl.com/publications/TR2020-134}
    • }
  •  Quirynen, R., Feng, X., Di Cairano, S., "Inexact Adjoint-based SQP Algorithm for Real-Time Stochastic Nonlinear MPC", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen, Sandra Hirche, Klaus Janschek, Martin Mönnigmann, Eds., July 2020, pp. 6529-6535.
    BibTeX TR2020-103 PDF
    • @inproceedings{Quirynen2020jul2,
    • author = {Quirynen, Rien and Feng, Xuhui and Di Cairano, Stefano},
    • title = {Inexact Adjoint-based SQP Algorithm for Real-Time Stochastic Nonlinear MPC},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2020,
    • editor = {Rolf Findeisen, Sandra Hirche, Klaus Janschek, Martin Mönnigmann},
    • pages = {6529--6535},
    • month = jul,
    • publisher = {Elsevier},
    • url = {https://www.merl.com/publications/TR2020-103}
    • }
  •  Quirynen, R., Frey, J., Di Cairano, S., "Active-Set based Inexact Interior Point QP Solver for Model Predictive Control", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen, Sandra Hirche, Klaus Janschek, Martin Mönnigmann, Eds., July 2020, pp. 6522-6528.
    BibTeX TR2020-105 PDF
    • @inproceedings{Quirynen2020jul3,
    • author = {Quirynen, Rien and Frey, Jonathan and Di Cairano, Stefano},
    • title = {Active-Set based Inexact Interior Point QP Solver for Model Predictive Control},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2020,
    • editor = {Rolf Findeisen, Sandra Hirche, Klaus Janschek, Martin Mönnigmann},
    • pages = {6522--6528},
    • month = jul,
    • publisher = {Elsevier},
    • url = {https://www.merl.com/publications/TR2020-105}
    • }
  •  Quirynen, R., Berntorp, K., Kambam, K., Di Cairano, S., "Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC45564.2020.9147820, July 2020.
    BibTeX TR2020-096 PDF
    • @inproceedings{Quirynen2020jul,
    • author = {Quirynen, Rien and Berntorp, Karl and Kambam, Karthik and Di Cairano, Stefano},
    • title = {Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2020,
    • month = jul,
    • doi = {10.23919/ACC45564.2020.9147820},
    • url = {https://www.merl.com/publications/TR2020-096}
    • }
  •  Sahin, Y.E., Quirynen, R., Di Cairano, S., "Autonomous Vehicle Decision-Making and Monitoring based on Signal Temporal Logic and Mixed-Integer Programming", American Control Conference (ACC), DOI: 10.23919/​ACC45564.2020.9147917, July 2020.
    BibTeX TR2020-095 PDF
    • @inproceedings{Sahin2020jul,
    • author = {Sahin, Yunus Emre and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Autonomous Vehicle Decision-Making and Monitoring based on Signal Temporal Logic and Mixed-Integer Programming},
    • booktitle = {American Control Conference (ACC)},
    • year = 2020,
    • month = jul,
    • doi = {10.23919/ACC45564.2020.9147917},
    • url = {https://www.merl.com/publications/TR2020-095}
    • }
  •  Quirynen, R., Hespanhol, P., "Adjoint-based SQP Method with Block-wise quasi-Newton Jacobian Updates for Nonlinear Optimal Control", Journal of Optimization Methods and Software, DOI: 10.1080/​10556788.2019.1653869, June 2020.
    BibTeX TR2020-086 PDF
    • @article{Quirynen2020jun,
    • author = {Quirynen, Rien and Hespanhol, Pedro},
    • title = {Adjoint-based SQP Method with Block-wise quasi-Newton Jacobian Updates for Nonlinear Optimal Control},
    • journal = {Journal of Optimization Methods and Software},
    • year = 2020,
    • month = jun,
    • doi = {10.1080/10556788.2019.1653869},
    • url = {https://www.merl.com/publications/TR2020-086}
    • }
  •  Berntorp, K., Quirynen, R., Uno, T., Di Cairano, S., "Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by Friction-Adaptive Nonlinear Model Predictive Control", Journal of Vehicle Systems Dynamics, DOI: 10.1080/​00423114.2019.1697456, January 2020.
    BibTeX TR2020-005 PDF
    • @article{Berntorp2020jan,
    • author = {Berntorp, Karl and Quirynen, Rien and Uno, Tomoki and Di Cairano, Stefano},
    • title = {Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by Friction-Adaptive Nonlinear Model Predictive Control},
    • journal = {Journal of Vehicle Systems Dynamics},
    • year = 2020,
    • month = jan,
    • doi = {10.1080/00423114.2019.1697456},
    • url = {https://www.merl.com/publications/TR2020-005}
    • }
  •  Kalabić, U., Chakrabarty, A., Quirynen, R., Di Cairano, S., "Learning autonomous vehicle passengers’ preferred driving styles using g-g plots and haptic feedback", IEEE Intelligent Transportation Systems Conference (ITSC), DOI: 10.1109/​ITSC.2019.8917328, October 2019, pp. 4012-4017.
    BibTeX TR2019-115 PDF
    • @inproceedings{Kalabic2019oct,
    • author = {Kalabić, Uroš and Chakrabarty, Ankush and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Learning autonomous vehicle passengers’ preferred driving styles using g-g plots and haptic feedback},
    • booktitle = {Proc. IEEE Intelligent Transportation Systems Conf.},
    • year = 2019,
    • pages = {4012--4017},
    • month = oct,
    • doi = {10.1109/ITSC.2019.8917328},
    • url = {https://www.merl.com/publications/TR2019-115}
    • }
  •  Berntorp, K., Inani, P., Quirynen, R., Di Cairano, S., "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), DOI: 10.23919/​ACC.2019.8815309, July 2019, pp. 1382-1387.
    BibTeX TR2019-062 PDF
    • @inproceedings{Berntorp2019jul2,
    • author = {Berntorp, Karl and Inani, Pranav and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation},
    • booktitle = {American Control Conference (ACC)},
    • year = 2019,
    • pages = {1382--1387},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC.2019.8815309},
    • url = {https://www.merl.com/publications/TR2019-062}
    • }
  •  Berntorp, K., Quirynen, R., Di Cairano, S., "Steering of Autonomous Vehicles Based on Friction-Adaptive Nonlinear Model-Predictive Control", American Control Conference (ACC), DOI: 10.23919/​ACC.2019.8814448, July 2019, pp. 965-970.
    BibTeX TR2019-063 PDF
    • @inproceedings{Berntorp2019jul3,
    • author = {Berntorp, Karl and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Steering of Autonomous Vehicles Based on Friction-Adaptive Nonlinear Model-Predictive Control},
    • booktitle = {American Control Conference (ACC)},
    • year = 2019,
    • pages = {965--970},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC.2019.8814448},
    • url = {https://www.merl.com/publications/TR2019-063}
    • }
  •  Chakrabarty, A., Quirynen, R., Danielson, C., Gao, W., "Approximate Dynamic Programming For Linear Systems with State and Input Constraints", European Control Conference (ECC), DOI: 10.23919/​ECC.2019.8795815, June 2019.
    BibTeX TR2019-059 PDF
    • @inproceedings{Chakrabarty2019jun,
    • author = {Chakrabarty, Ankush and Quirynen, Rien and Danielson, Claus and Gao, Weinan},
    • title = {Approximate Dynamic Programming For Linear Systems with State and Input Constraints},
    • booktitle = {European Control Conference (ECC)},
    • year = 2019,
    • month = jun,
    • doi = {10.23919/ECC.2019.8795815},
    • url = {https://www.merl.com/publications/TR2019-059}
    • }
  •  Hespanhol, P., Quirynen, R., Di Cairano, S., "A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control", European Control Conference (ECC), DOI: 10.23919/​ECC.2019.8796242, June 2019, pp. 2763-2768.
    BibTeX TR2019-050 PDF
    • @inproceedings{Hespanhol2019jun,
    • author = {Hespanhol, Pedro and Quirynen, Rien and Di Cairano, Stefano},
    • title = {A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control},
    • booktitle = {European Control Conference (ECC)},
    • year = 2019,
    • pages = {2763--2768},
    • month = jun,
    • doi = {10.23919/ECC.2019.8796242},
    • url = {https://www.merl.com/publications/TR2019-050}
    • }
  •  Berntorp, K., Hoang, T., Quirynen, R., Di Cairano, S., "Control Architecture Design for Autonomous Vehicles", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA.2018.8511371, August 2018, pp. 404-411.
    BibTeX TR2018-125 PDF
    • @inproceedings{Berntorp2018aug,
    • author = {Berntorp, Karl and Hoang, Tru and Quirynen, Rien and Di Cairano, Stefano},
    • title = {Control Architecture Design for Autonomous Vehicles},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2018,
    • pages = {404--411},
    • month = aug,
    • doi = {10.1109/CCTA.2018.8511371},
    • url = {https://www.merl.com/publications/TR2018-125}
    • }